CarlOlsson
f8878d41dc
adopted ekf_helper.cpp
2016-03-30 17:01:03 +02:00
Paul Riseborough
6b2e2dba90
EKF: Add GPS height option and improve height recovery
2016-03-16 10:40:51 +11:00
Paul Riseborough
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42
EKF: Enable use of range finder for primary height source
2016-03-13 18:44:34 +11:00
Paul Riseborough
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
2016-03-11 11:03:43 +11:00
Paul Riseborough
32b03819ef
EKF: Add function to calculate global position validity
2016-03-11 11:03:43 +11:00
Paul Riseborough
270451e17b
EKF: Update height reset to support range finder height use
2016-03-11 11:03:43 +11:00
Paul Riseborough
f7a53d69f2
EKF: Improve height reset function
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Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
2016-03-02 08:39:07 +01:00
Paul Riseborough
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
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EKF: Improve Position Accuracy Reporting
2016-02-26 22:48:44 +11:00
Roman Bapst
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
Paul Riseborough
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
2016-02-25 10:38:07 +11:00
Paul Riseborough
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
2016-02-25 08:16:42 +11:00
bugobliterator
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
Paul Riseborough
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
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The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
2016-02-14 22:01:53 +01:00
Paul Riseborough
83945581ed
EKF: Add function to calculate the magnetic declination to use
2016-02-14 22:01:53 +01:00
Paul Riseborough
6140d4b21f
EKF: Add function to reset yaw and magnetic field states
2016-02-14 22:01:53 +01:00
Roman
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
Paul Riseborough
9d7340e187
EKF: Fix bugs in position and velocity resets
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The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-14 09:49:26 +01:00
Paul Riseborough
da1de2cc4d
EKF: Correct for sensor noise and baro offset during alignment
2016-02-14 09:49:26 +01:00
CarlOlsson
1e766c7510
moved fuse function to ekf_helper.cpp
2016-02-12 15:54:32 +01:00
Paul Riseborough
fff2bd50f6
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-10 15:16:05 +11:00
Paul Riseborough
40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
2016-02-10 10:25:27 +11:00
bugobliterator
d79e12dfa1
EKF: fix code style
2016-01-31 00:12:16 -08:00
bugobliterator
251996d387
ekf: move gps checks to Ekf library from estimator_base
2016-01-29 17:15:18 -08:00
Paul Riseborough
46b0e9654c
Add filter control logic
2016-01-30 09:01:48 +11:00
Roman
8d0022ab1e
enable estimator state and innovations data logging
2016-01-22 11:31:14 +01:00
nickolasrossi
dfbbd36ff7
fix buffer overflow in constrain of wind velocity
2016-01-19 18:25:22 -08:00
Roman
2a88fc6cfd
initialise vertical position correctly
2016-01-08 06:42:22 +01:00
Mark Charlebois
b8837b4dc6
Added hexagon support
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std::to_string is not supported in the Hexagon complier
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-01-07 14:54:55 -08:00
Roman
f153a7cb44
added ifdef guard
2015-12-19 09:40:32 +01:00
Roman
8de8b0eb76
prediction and vel pos heading fusion working
2015-12-09 17:47:52 +01:00
Roman
b3491bcfc3
added file with ekf helper functions
2015-12-06 13:19:25 +01:00
